mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-14 13:50:04 +00:00
79d78a325a
Use btCylinderShapeZ for URDF cylinder, instead of converting it to a btConvexHullShape. Implement PyBullet.getCollisionShapeData Extend PyBullet.getDynamicsInfo / b3GetDynamicsInfo, remove flag (don't rely on API returning a fixed number of elements in a list!) Extend PyBullet.getJointInfo: add parentIndex
1299 lines
39 KiB
C++
1299 lines
39 KiB
C++
/* Copyright (C) 2015 Google
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#include "BulletUrdfImporter.h"
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#include "../../CommonInterfaces/CommonRenderInterface.h"
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#include"../../ThirdPartyLibs/Wavefront/tiny_obj_loader.h"
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#include "URDFImporterInterface.h"
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#include "btBulletCollisionCommon.h"
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#include "../ImportObjDemo/LoadMeshFromObj.h"
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#include "../ImportSTLDemo/LoadMeshFromSTL.h"
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#include "../ImportColladaDemo/LoadMeshFromCollada.h"
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#include "BulletCollision/CollisionShapes/btShapeHull.h"//to create a tesselation of a generic btConvexShape
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#include "../../CommonInterfaces/CommonGUIHelperInterface.h"
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#include "Bullet3Common/b3FileUtils.h"
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#include <string>
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#include "../../Utils/b3ResourcePath.h"
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#include "../ImportMeshUtility/b3ImportMeshUtility.h"
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static btScalar gUrdfDefaultCollisionMargin = 0.001;
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#include <iostream>
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#include <fstream>
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#include <list>
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#include "UrdfParser.h"
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ATTRIBUTE_ALIGNED16(struct) BulletURDFInternalData
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{
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BT_DECLARE_ALIGNED_ALLOCATOR();
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UrdfParser m_urdfParser;
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struct GUIHelperInterface* m_guiHelper;
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std::string m_sourceFile;
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char m_pathPrefix[1024];
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int m_bodyId;
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btHashMap<btHashInt,UrdfMaterialColor> m_linkColors;
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btAlignedObjectArray<btCollisionShape*> m_allocatedCollisionShapes;
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mutable btAlignedObjectArray<btTriangleMesh*> m_allocatedMeshInterfaces;
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LinkVisualShapesConverter* m_customVisualShapesConverter;
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bool m_enableTinyRenderer;
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void setSourceFile(const std::string& relativeFileName, const std::string& prefix)
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{
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m_sourceFile = relativeFileName;
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m_urdfParser.setSourceFile(relativeFileName);
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strncpy(m_pathPrefix, prefix.c_str(), sizeof(m_pathPrefix));
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m_pathPrefix[sizeof(m_pathPrefix)-1] = 0; // required, strncpy doesn't write zero on overflow
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}
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BulletURDFInternalData()
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{
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m_enableTinyRenderer = true;
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m_pathPrefix[0] = 0;
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}
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void setGlobalScaling(btScalar scaling)
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{
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m_urdfParser.setGlobalScaling(scaling);
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}
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};
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void BulletURDFImporter::printTree()
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{
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// btAssert(0);
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}
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BulletURDFImporter::BulletURDFImporter(struct GUIHelperInterface* helper, LinkVisualShapesConverter* customConverter, double globalScaling)
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{
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m_data = new BulletURDFInternalData;
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m_data->setGlobalScaling(globalScaling);
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m_data->m_guiHelper = helper;
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m_data->m_customVisualShapesConverter = customConverter;
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}
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struct BulletErrorLogger : public ErrorLogger
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{
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int m_numErrors;
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int m_numWarnings;
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BulletErrorLogger()
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:m_numErrors(0),
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m_numWarnings(0)
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{
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}
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virtual void reportError(const char* error)
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{
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m_numErrors++;
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b3Error(error);
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}
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virtual void reportWarning(const char* warning)
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{
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m_numWarnings++;
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b3Warning(warning);
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}
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virtual void printMessage(const char* msg)
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{
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b3Printf(msg);
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}
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};
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bool BulletURDFImporter::loadURDF(const char* fileName, bool forceFixedBase)
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{
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if (strlen(fileName)==0)
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return false;
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//int argc=0;
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char relativeFileName[1024];
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b3FileUtils fu;
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//bool fileFound = fu.findFile(fileName, relativeFileName, 1024);
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bool fileFound = (b3ResourcePath::findResourcePath(fileName,relativeFileName,1024))>0;
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std::string xml_string;
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if (!fileFound){
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b3Warning("URDF file '%s' not found\n", fileName);
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return false;
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} else
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{
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char path[1024];
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fu.extractPath(relativeFileName, path, sizeof(path));
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m_data->setSourceFile(relativeFileName, path);
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std::fstream xml_file(relativeFileName, std::fstream::in);
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while ( xml_file.good())
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{
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std::string line;
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std::getline( xml_file, line);
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xml_string += (line + "\n");
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}
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xml_file.close();
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}
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BulletErrorLogger loggie;
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m_data->m_urdfParser.setParseSDF(false);
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bool result = m_data->m_urdfParser.loadUrdf(xml_string.c_str(), &loggie, forceFixedBase);
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return result;
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}
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int BulletURDFImporter::getNumModels() const
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{
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return m_data->m_urdfParser.getNumModels();
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}
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void BulletURDFImporter::activateModel(int modelIndex)
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{
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m_data->m_urdfParser.activateModel(modelIndex);
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}
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bool BulletURDFImporter::loadSDF(const char* fileName, bool forceFixedBase)
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{
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//int argc=0;
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char relativeFileName[1024];
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b3FileUtils fu;
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//bool fileFound = fu.findFile(fileName, relativeFileName, 1024);
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bool fileFound = (b3ResourcePath::findResourcePath(fileName,relativeFileName,1024))>0;
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std::string xml_string;
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if (!fileFound){
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b3Warning("SDF file '%s' not found\n", fileName);
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return false;
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} else
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{
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char path[1024];
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fu.extractPath(relativeFileName, path, sizeof(path));
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m_data->setSourceFile(relativeFileName, path);
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std::fstream xml_file(relativeFileName, std::fstream::in);
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while ( xml_file.good() )
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{
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std::string line;
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std::getline( xml_file, line);
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xml_string += (line + "\n");
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}
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xml_file.close();
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}
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BulletErrorLogger loggie;
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//todo: quick test to see if we can re-use the URDF parser for SDF or not
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m_data->m_urdfParser.setParseSDF(true);
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bool result = m_data->m_urdfParser.loadSDF(xml_string.c_str(), &loggie);
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return result;
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}
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const char* BulletURDFImporter::getPathPrefix()
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{
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return m_data->m_pathPrefix;
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}
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void BulletURDFImporter::setBodyUniqueId(int bodyId)
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{
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m_data->m_bodyId =bodyId;
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}
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int BulletURDFImporter::getBodyUniqueId() const
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{
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return m_data->m_bodyId;
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}
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BulletURDFImporter::~BulletURDFImporter()
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{
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delete m_data;
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}
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int BulletURDFImporter::getRootLinkIndex() const
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{
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if (m_data->m_urdfParser.getModel().m_rootLinks.size()==1)
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{
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return m_data->m_urdfParser.getModel().m_rootLinks[0]->m_linkIndex;
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}
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return -1;
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};
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void BulletURDFImporter::getLinkChildIndices(int linkIndex, btAlignedObjectArray<int>& childLinkIndices) const
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{
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childLinkIndices.resize(0);
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UrdfLink* const* linkPtr = m_data->m_urdfParser.getModel().m_links.getAtIndex(linkIndex);
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if (linkPtr)
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{
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const UrdfLink* link = *linkPtr;
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//int numChildren = m_data->m_urdfParser->getModel().m_links.getAtIndex(linkIndex)->
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for (int i=0;i<link->m_childLinks.size();i++)
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{
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int childIndex =link->m_childLinks[i]->m_linkIndex;
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childLinkIndices.push_back(childIndex);
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}
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}
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}
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std::string BulletURDFImporter::getLinkName(int linkIndex) const
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{
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UrdfLink* const* linkPtr = m_data->m_urdfParser.getModel().m_links.getAtIndex(linkIndex);
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btAssert(linkPtr);
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if (linkPtr)
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{
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UrdfLink* link = *linkPtr;
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return link->m_name;
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}
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return "";
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}
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std::string BulletURDFImporter::getBodyName() const
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{
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return m_data->m_urdfParser.getModel().m_name;
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}
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std::string BulletURDFImporter::getJointName(int linkIndex) const
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{
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UrdfLink* const* linkPtr = m_data->m_urdfParser.getModel().m_links.getAtIndex(linkIndex);
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btAssert(linkPtr);
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if (linkPtr)
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{
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UrdfLink* link = *linkPtr;
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if (link->m_parentJoint)
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{
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return link->m_parentJoint->m_name;
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}
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}
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return "";
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}
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void BulletURDFImporter::getMassAndInertia(int linkIndex, btScalar& mass,btVector3& localInertiaDiagonal, btTransform& inertialFrame) const
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{
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//the link->m_inertia is NOT necessarily aligned with the inertial frame
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//so an additional transform might need to be computed
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UrdfLink* const* linkPtr = m_data->m_urdfParser.getModel().m_links.getAtIndex(linkIndex);
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btAssert(linkPtr);
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if (linkPtr)
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{
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UrdfLink* link = *linkPtr;
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btMatrix3x3 linkInertiaBasis;
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btScalar linkMass, principalInertiaX, principalInertiaY, principalInertiaZ;
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if (link->m_parentJoint==0 && m_data->m_urdfParser.getModel().m_overrideFixedBase)
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{
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linkMass = 0.f;
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principalInertiaX = 0.f;
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principalInertiaY = 0.f;
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principalInertiaZ = 0.f;
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linkInertiaBasis.setIdentity();
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}
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else
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{
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linkMass = link->m_inertia.m_mass;
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if (link->m_inertia.m_ixy == 0.0 &&
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link->m_inertia.m_ixz == 0.0 &&
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link->m_inertia.m_iyz == 0.0)
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{
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principalInertiaX = link->m_inertia.m_ixx;
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principalInertiaY = link->m_inertia.m_iyy;
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principalInertiaZ = link->m_inertia.m_izz;
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linkInertiaBasis.setIdentity();
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}
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else
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{
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principalInertiaX = link->m_inertia.m_ixx;
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btMatrix3x3 inertiaTensor(link->m_inertia.m_ixx, link->m_inertia.m_ixy, link->m_inertia.m_ixz,
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link->m_inertia.m_ixy, link->m_inertia.m_iyy, link->m_inertia.m_iyz,
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link->m_inertia.m_ixz, link->m_inertia.m_iyz, link->m_inertia.m_izz);
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btScalar threshold = 1.0e-6;
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int numIterations = 30;
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inertiaTensor.diagonalize(linkInertiaBasis, threshold, numIterations);
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principalInertiaX = inertiaTensor[0][0];
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principalInertiaY = inertiaTensor[1][1];
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principalInertiaZ = inertiaTensor[2][2];
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}
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}
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mass = linkMass;
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if (principalInertiaX < 0 ||
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principalInertiaX > (principalInertiaY + principalInertiaZ) ||
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principalInertiaY < 0 ||
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principalInertiaY > (principalInertiaX + principalInertiaZ) ||
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principalInertiaZ < 0 ||
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principalInertiaZ > (principalInertiaX + principalInertiaY))
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{
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b3Warning("Bad inertia tensor properties, setting inertia to zero for link: %s\n", link->m_name.c_str());
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principalInertiaX = 0.f;
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principalInertiaY = 0.f;
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principalInertiaZ = 0.f;
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linkInertiaBasis.setIdentity();
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}
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localInertiaDiagonal.setValue(principalInertiaX, principalInertiaY, principalInertiaZ);
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inertialFrame.setOrigin(link->m_inertia.m_linkLocalFrame.getOrigin());
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inertialFrame.setBasis(link->m_inertia.m_linkLocalFrame.getBasis()*linkInertiaBasis);
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}
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else
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{
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mass = 1.f;
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localInertiaDiagonal.setValue(1,1,1);
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inertialFrame.setIdentity();
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}
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}
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bool BulletURDFImporter::getJointInfo2(int urdfLinkIndex, btTransform& parent2joint, btTransform& linkTransformInWorld, btVector3& jointAxisInJointSpace, int& jointType, btScalar& jointLowerLimit, btScalar& jointUpperLimit, btScalar& jointDamping, btScalar& jointFriction, btScalar& jointMaxForce, btScalar& jointMaxVelocity) const
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{
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jointLowerLimit = 0.f;
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jointUpperLimit = 0.f;
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jointDamping = 0.f;
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jointFriction = 0.f;
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jointMaxForce = 0.f;
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jointMaxVelocity = 0.f;
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UrdfLink* const* linkPtr = m_data->m_urdfParser.getModel().m_links.getAtIndex(urdfLinkIndex);
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btAssert(linkPtr);
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if (linkPtr)
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{
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UrdfLink* link = *linkPtr;
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linkTransformInWorld = link->m_linkTransformInWorld;
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if (link->m_parentJoint)
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{
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UrdfJoint* pj = link->m_parentJoint;
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parent2joint = pj->m_parentLinkToJointTransform;
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jointType = pj->m_type;
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jointAxisInJointSpace = pj->m_localJointAxis;
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jointLowerLimit = pj->m_lowerLimit;
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jointUpperLimit = pj->m_upperLimit;
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jointDamping = pj->m_jointDamping;
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jointFriction = pj->m_jointFriction;
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jointMaxForce = pj->m_effortLimit;
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jointMaxVelocity = pj->m_velocityLimit;
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return true;
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} else
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{
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parent2joint.setIdentity();
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return false;
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}
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}
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return false;
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};
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bool BulletURDFImporter::getJointInfo(int urdfLinkIndex, btTransform& parent2joint, btTransform& linkTransformInWorld, btVector3& jointAxisInJointSpace, int& jointType, btScalar& jointLowerLimit, btScalar& jointUpperLimit, btScalar& jointDamping, btScalar& jointFriction) const
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{
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btScalar jointMaxForce;
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btScalar jointMaxVelocity;
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return getJointInfo2(urdfLinkIndex, parent2joint, linkTransformInWorld, jointAxisInJointSpace, jointType, jointLowerLimit, jointUpperLimit, jointDamping, jointFriction,jointMaxForce,jointMaxVelocity);
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}
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void BulletURDFImporter::setRootTransformInWorld(const btTransform& rootTransformInWorld)
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{
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m_data->m_urdfParser.getModel().m_rootTransformInWorld = rootTransformInWorld ;
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}
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bool BulletURDFImporter::getRootTransformInWorld(btTransform& rootTransformInWorld) const
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{
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rootTransformInWorld = m_data->m_urdfParser.getModel().m_rootTransformInWorld;
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return true;
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}
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static btCollisionShape* createConvexHullFromShapes(std::vector<tinyobj::shape_t>& shapes, const btVector3& geomScale)
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{
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B3_PROFILE("createConvexHullFromShapes");
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btCompoundShape* compound = new btCompoundShape();
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compound->setMargin(gUrdfDefaultCollisionMargin);
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btTransform identity;
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identity.setIdentity();
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for (int s = 0; s<(int)shapes.size(); s++)
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{
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btConvexHullShape* convexHull = new btConvexHullShape();
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convexHull->setMargin(gUrdfDefaultCollisionMargin);
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tinyobj::shape_t& shape = shapes[s];
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int faceCount = shape.mesh.indices.size();
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for (int f = 0; f<faceCount; f += 3)
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{
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btVector3 pt;
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pt.setValue(shape.mesh.positions[shape.mesh.indices[f] * 3 + 0],
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shape.mesh.positions[shape.mesh.indices[f] * 3 + 1],
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shape.mesh.positions[shape.mesh.indices[f] * 3 + 2]);
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convexHull->addPoint(pt*geomScale,false);
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pt.setValue(shape.mesh.positions[shape.mesh.indices[f + 1] * 3 + 0],
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shape.mesh.positions[shape.mesh.indices[f + 1] * 3 + 1],
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shape.mesh.positions[shape.mesh.indices[f + 1] * 3 + 2]);
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convexHull->addPoint(pt*geomScale, false);
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pt.setValue(shape.mesh.positions[shape.mesh.indices[f + 2] * 3 + 0],
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shape.mesh.positions[shape.mesh.indices[f + 2] * 3 + 1],
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shape.mesh.positions[shape.mesh.indices[f + 2] * 3 + 2]);
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convexHull->addPoint(pt*geomScale, false);
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}
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convexHull->recalcLocalAabb();
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convexHull->optimizeConvexHull();
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compound->addChildShape(identity,convexHull);
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}
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return compound;
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}
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bool findExistingMeshFile(
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const std::string& urdf_path, std::string fn,
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const std::string& error_message_prefix,
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std::string* out_found_filename, int* out_type)
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{
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if (fn.size() <= 4)
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{
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b3Warning("%s: invalid mesh filename '%s'\n", error_message_prefix.c_str(), fn.c_str());
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return false;
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}
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std::string ext;
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std::string ext_ = fn.substr(fn.size()-4);
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for (std::string::iterator i=ext_.begin(); i!=ext_.end(); ++i)
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|
{
|
|
ext += char(tolower(*i));
|
|
}
|
|
|
|
if (ext==".dae")
|
|
{
|
|
*out_type = UrdfGeometry::FILE_COLLADA;
|
|
}
|
|
else if (ext==".stl")
|
|
{
|
|
*out_type = UrdfGeometry::FILE_STL;
|
|
}
|
|
else if (ext==".obj")
|
|
{
|
|
*out_type = UrdfGeometry::FILE_OBJ;
|
|
}
|
|
else
|
|
{
|
|
b3Warning("%s: invalid mesh filename extension '%s'\n", error_message_prefix.c_str(), ext.c_str());
|
|
return false;
|
|
}
|
|
|
|
std::string drop_it = "package://";
|
|
if (fn.substr(0, drop_it.length())==drop_it)
|
|
fn = fn.substr(drop_it.length());
|
|
|
|
std::list<std::string> shorter;
|
|
shorter.push_back("../..");
|
|
shorter.push_back("..");
|
|
shorter.push_back(".");
|
|
int cnt = urdf_path.size();
|
|
for (int i=0; i<cnt; ++i)
|
|
{
|
|
if (urdf_path[i]=='/' || urdf_path[i]=='\\')
|
|
{
|
|
shorter.push_back(urdf_path.substr(0, i));
|
|
}
|
|
}
|
|
shorter.reverse();
|
|
|
|
std::string existing_file;
|
|
|
|
{
|
|
std::string attempt = fn;
|
|
FILE* f = fopen(attempt.c_str(), "rb");
|
|
if (f)
|
|
{
|
|
existing_file = attempt;
|
|
fclose(f);
|
|
}
|
|
}
|
|
if (existing_file.empty())
|
|
{
|
|
for (std::list<std::string>::iterator x=shorter.begin(); x!=shorter.end(); ++x)
|
|
{
|
|
std::string attempt = *x + "/" + fn;
|
|
FILE* f = fopen(attempt.c_str(), "rb");
|
|
if (!f)
|
|
{
|
|
//b3Printf("%s: tried '%s'", error_message_prefix.c_str(), attempt.c_str());
|
|
continue;
|
|
}
|
|
fclose(f);
|
|
existing_file = attempt;
|
|
//b3Printf("%s: found '%s'", error_message_prefix.c_str(), attempt.c_str());
|
|
break;
|
|
}
|
|
}
|
|
|
|
if (existing_file.empty())
|
|
{
|
|
b3Warning("%s: cannot find '%s' in any directory in urdf path\n", error_message_prefix.c_str(), fn.c_str());
|
|
return false;
|
|
}
|
|
else
|
|
{
|
|
*out_found_filename = existing_file;
|
|
return true;
|
|
}
|
|
}
|
|
|
|
btCollisionShape* BulletURDFImporter::convertURDFToCollisionShape(const UrdfCollision* collision, const char* urdfPathPrefix) const
|
|
{
|
|
BT_PROFILE("convertURDFToCollisionShape");
|
|
|
|
btCollisionShape* shape = 0;
|
|
|
|
switch (collision->m_geometry.m_type)
|
|
{
|
|
case URDF_GEOM_PLANE:
|
|
{
|
|
btVector3 planeNormal = collision->m_geometry.m_planeNormal;
|
|
btScalar planeConstant = 0;//not available?
|
|
btStaticPlaneShape* plane = new btStaticPlaneShape(planeNormal,planeConstant);
|
|
shape = plane;
|
|
shape ->setMargin(gUrdfDefaultCollisionMargin);
|
|
break;
|
|
}
|
|
case URDF_GEOM_CAPSULE:
|
|
{
|
|
btScalar radius = collision->m_geometry.m_capsuleRadius;
|
|
btScalar height = collision->m_geometry.m_capsuleHeight;
|
|
btCapsuleShapeZ* capsuleShape = new btCapsuleShapeZ(radius,height);
|
|
shape = capsuleShape;
|
|
shape ->setMargin(gUrdfDefaultCollisionMargin);
|
|
break;
|
|
}
|
|
|
|
case URDF_GEOM_CYLINDER:
|
|
{
|
|
btScalar cylRadius = collision->m_geometry.m_capsuleRadius;
|
|
btScalar cylHalfLength = 0.5*collision->m_geometry.m_capsuleHeight;
|
|
#if 0
|
|
btAlignedObjectArray<btVector3> vertices;
|
|
//int numVerts = sizeof(barrel_vertices)/(9*sizeof(float));
|
|
int numSteps = 32;
|
|
for (int i=0;i<numSteps;i++)
|
|
{
|
|
|
|
btVector3 vert(cylRadius*btSin(SIMD_2_PI*(float(i)/numSteps)),cylRadius*btCos(SIMD_2_PI*(float(i)/numSteps)),cylLength/2.);
|
|
vertices.push_back(vert);
|
|
vert[2] = -cylLength/2.;
|
|
vertices.push_back(vert);
|
|
|
|
}
|
|
btConvexHullShape* cylZShape = new btConvexHullShape(&vertices[0].x(), vertices.size(), sizeof(btVector3));
|
|
cylZShape->setMargin(gUrdfDefaultCollisionMargin);
|
|
cylZShape->recalcLocalAabb();
|
|
cylZShape->initializePolyhedralFeatures();
|
|
cylZShape->optimizeConvexHull();
|
|
|
|
//btConvexShape* cylZShape = new btConeShapeZ(cylRadius,cylLength);//(vexHullShape(&vertices[0].x(), vertices.size(), sizeof(btVector3));
|
|
#else
|
|
btVector3 halfExtents(cylRadius,cylRadius, cylHalfLength);
|
|
btCylinderShapeZ* cylZShape = new btCylinderShapeZ(halfExtents);
|
|
#endif
|
|
|
|
shape = cylZShape;
|
|
break;
|
|
}
|
|
case URDF_GEOM_BOX:
|
|
{
|
|
btVector3 extents = collision->m_geometry.m_boxSize;
|
|
btBoxShape* boxShape = new btBoxShape(extents*0.5f);
|
|
//btConvexShape* boxShape = new btConeShapeX(extents[2]*0.5,extents[0]*0.5);
|
|
shape = boxShape;
|
|
shape ->setMargin(gUrdfDefaultCollisionMargin);
|
|
break;
|
|
}
|
|
case URDF_GEOM_SPHERE:
|
|
{
|
|
btScalar radius = collision->m_geometry.m_sphereRadius;
|
|
btSphereShape* sphereShape = new btSphereShape(radius);
|
|
shape = sphereShape;
|
|
shape ->setMargin(gUrdfDefaultCollisionMargin);
|
|
break;
|
|
}
|
|
|
|
case URDF_GEOM_MESH:
|
|
{
|
|
GLInstanceGraphicsShape* glmesh = 0;
|
|
switch (collision->m_geometry.m_meshFileType)
|
|
{
|
|
case UrdfGeometry::FILE_OBJ:
|
|
if (collision->m_flags & URDF_FORCE_CONCAVE_TRIMESH)
|
|
{
|
|
char relativeFileName[1024];
|
|
char pathPrefix[1024];
|
|
pathPrefix[0] = 0;
|
|
if (b3ResourcePath::findResourcePath(collision->m_geometry.m_meshFileName.c_str(), relativeFileName, 1024))
|
|
{
|
|
|
|
b3FileUtils::extractPath(relativeFileName, pathPrefix, 1024);
|
|
}
|
|
glmesh = LoadMeshFromObj(collision->m_geometry.m_meshFileName.c_str(), pathPrefix);
|
|
}
|
|
else
|
|
{
|
|
std::vector<tinyobj::shape_t> shapes;
|
|
std::string err = tinyobj::LoadObj(shapes, collision->m_geometry.m_meshFileName.c_str());
|
|
//create a convex hull for each shape, and store it in a btCompoundShape
|
|
|
|
shape = createConvexHullFromShapes(shapes, collision->m_geometry.m_meshScale);
|
|
return shape;
|
|
}
|
|
break;
|
|
|
|
case UrdfGeometry::FILE_STL:
|
|
glmesh = LoadMeshFromSTL(collision->m_geometry.m_meshFileName.c_str());
|
|
break;
|
|
|
|
case UrdfGeometry::FILE_COLLADA:
|
|
{
|
|
btAlignedObjectArray<GLInstanceGraphicsShape> visualShapes;
|
|
btAlignedObjectArray<ColladaGraphicsInstance> visualShapeInstances;
|
|
btTransform upAxisTrans;upAxisTrans.setIdentity();
|
|
float unitMeterScaling = 1;
|
|
LoadMeshFromCollada(collision->m_geometry.m_meshFileName.c_str(), visualShapes, visualShapeInstances, upAxisTrans, unitMeterScaling, 2);
|
|
|
|
glmesh = new GLInstanceGraphicsShape;
|
|
glmesh->m_indices = new b3AlignedObjectArray<int>();
|
|
glmesh->m_vertices = new b3AlignedObjectArray<GLInstanceVertex>();
|
|
|
|
for (int i=0;i<visualShapeInstances.size();i++)
|
|
{
|
|
ColladaGraphicsInstance* instance = &visualShapeInstances[i];
|
|
GLInstanceGraphicsShape* gfxShape = &visualShapes[instance->m_shapeIndex];
|
|
|
|
b3AlignedObjectArray<GLInstanceVertex> verts;
|
|
verts.resize(gfxShape->m_vertices->size());
|
|
|
|
int baseIndex = glmesh->m_vertices->size();
|
|
|
|
for (int i=0;i<gfxShape->m_vertices->size();i++)
|
|
{
|
|
verts[i].normal[0] = gfxShape->m_vertices->at(i).normal[0];
|
|
verts[i].normal[1] = gfxShape->m_vertices->at(i).normal[1];
|
|
verts[i].normal[2] = gfxShape->m_vertices->at(i).normal[2];
|
|
verts[i].uv[0] = gfxShape->m_vertices->at(i).uv[0];
|
|
verts[i].uv[1] = gfxShape->m_vertices->at(i).uv[1];
|
|
verts[i].xyzw[0] = gfxShape->m_vertices->at(i).xyzw[0];
|
|
verts[i].xyzw[1] = gfxShape->m_vertices->at(i).xyzw[1];
|
|
verts[i].xyzw[2] = gfxShape->m_vertices->at(i).xyzw[2];
|
|
verts[i].xyzw[3] = gfxShape->m_vertices->at(i).xyzw[3];
|
|
|
|
}
|
|
|
|
int curNumIndices = glmesh->m_indices->size();
|
|
int additionalIndices = gfxShape->m_indices->size();
|
|
glmesh->m_indices->resize(curNumIndices+additionalIndices);
|
|
for (int k=0;k<additionalIndices;k++)
|
|
{
|
|
glmesh->m_indices->at(curNumIndices+k)=gfxShape->m_indices->at(k)+baseIndex;
|
|
}
|
|
|
|
//compensate upAxisTrans and unitMeterScaling here
|
|
btMatrix4x4 upAxisMat;
|
|
upAxisMat.setIdentity();
|
|
//upAxisMat.setPureRotation(upAxisTrans.getRotation());
|
|
btMatrix4x4 unitMeterScalingMat;
|
|
unitMeterScalingMat.setPureScaling(btVector3(unitMeterScaling,unitMeterScaling,unitMeterScaling));
|
|
btMatrix4x4 worldMat = unitMeterScalingMat*instance->m_worldTransform*upAxisMat;
|
|
//btMatrix4x4 worldMat = instance->m_worldTransform;
|
|
int curNumVertices = glmesh->m_vertices->size();
|
|
int additionalVertices = verts.size();
|
|
glmesh->m_vertices->reserve(curNumVertices+additionalVertices);
|
|
|
|
for(int v=0;v<verts.size();v++)
|
|
{
|
|
btVector3 pos(verts[v].xyzw[0],verts[v].xyzw[1],verts[v].xyzw[2]);
|
|
pos = worldMat*pos;
|
|
verts[v].xyzw[0] = float(pos[0]);
|
|
verts[v].xyzw[1] = float(pos[1]);
|
|
verts[v].xyzw[2] = float(pos[2]);
|
|
glmesh->m_vertices->push_back(verts[v]);
|
|
}
|
|
}
|
|
glmesh->m_numIndices = glmesh->m_indices->size();
|
|
glmesh->m_numvertices = glmesh->m_vertices->size();
|
|
//glmesh = LoadMeshFromCollada(success.c_str());
|
|
break;
|
|
}
|
|
}
|
|
|
|
if (!glmesh || glmesh->m_numvertices<=0)
|
|
{
|
|
b3Warning("%s: cannot extract mesh from '%s'\n", urdfPathPrefix, collision->m_geometry.m_meshFileName.c_str());
|
|
delete glmesh;
|
|
break;
|
|
}
|
|
|
|
btAlignedObjectArray<btVector3> convertedVerts;
|
|
convertedVerts.reserve(glmesh->m_numvertices);
|
|
for (int i=0; i<glmesh->m_numvertices; i++)
|
|
{
|
|
convertedVerts.push_back(btVector3(
|
|
glmesh->m_vertices->at(i).xyzw[0]*collision->m_geometry.m_meshScale[0],
|
|
glmesh->m_vertices->at(i).xyzw[1]*collision->m_geometry.m_meshScale[1],
|
|
glmesh->m_vertices->at(i).xyzw[2]*collision->m_geometry.m_meshScale[2]));
|
|
}
|
|
|
|
if (collision->m_flags & URDF_FORCE_CONCAVE_TRIMESH)
|
|
{
|
|
BT_PROFILE("convert trimesh");
|
|
btTriangleMesh* meshInterface = new btTriangleMesh();
|
|
m_data->m_allocatedMeshInterfaces.push_back(meshInterface);
|
|
{
|
|
BT_PROFILE("convert vertices");
|
|
|
|
for (int i=0; i<glmesh->m_numIndices/3; i++)
|
|
{
|
|
const btVector3& v0 = convertedVerts[glmesh->m_indices->at(i*3)];
|
|
const btVector3& v1 = convertedVerts[glmesh->m_indices->at(i*3+1)];
|
|
const btVector3& v2 = convertedVerts[glmesh->m_indices->at(i*3+2)];
|
|
meshInterface->addTriangle(v0,v1,v2);
|
|
}
|
|
}
|
|
{
|
|
BT_PROFILE("create btBvhTriangleMeshShape");
|
|
btBvhTriangleMeshShape* trimesh = new btBvhTriangleMeshShape(meshInterface,true,true);
|
|
//trimesh->setLocalScaling(collision->m_geometry.m_meshScale);
|
|
shape = trimesh;
|
|
}
|
|
|
|
} else
|
|
{
|
|
BT_PROFILE("convert btConvexHullShape");
|
|
btConvexHullShape* convexHull = new btConvexHullShape(&convertedVerts[0].getX(), convertedVerts.size(), sizeof(btVector3));
|
|
convexHull->optimizeConvexHull();
|
|
//convexHull->initializePolyhedralFeatures();
|
|
convexHull->setMargin(gUrdfDefaultCollisionMargin);
|
|
convexHull->recalcLocalAabb();
|
|
//convexHull->setLocalScaling(collision->m_geometry.m_meshScale);
|
|
shape = convexHull;
|
|
}
|
|
|
|
delete glmesh;
|
|
break;
|
|
} // mesh case
|
|
|
|
default:
|
|
b3Warning("Error: unknown collision geometry type %i\n", collision->m_geometry.m_type);
|
|
|
|
}
|
|
return shape;
|
|
}
|
|
|
|
|
|
void BulletURDFImporter::convertURDFToVisualShapeInternal(const UrdfVisual* visual, const char* urdfPathPrefix, const btTransform& visualTransform, btAlignedObjectArray<GLInstanceVertex>& verticesOut, btAlignedObjectArray<int>& indicesOut, btAlignedObjectArray<BulletURDFTexture>& texturesOut) const
|
|
{
|
|
BT_PROFILE("convertURDFToVisualShapeInternal");
|
|
|
|
|
|
GLInstanceGraphicsShape* glmesh = 0;
|
|
|
|
btConvexShape* convexColShape = 0;
|
|
|
|
switch (visual->m_geometry.m_type)
|
|
{
|
|
case URDF_GEOM_CYLINDER:
|
|
{
|
|
btAlignedObjectArray<btVector3> vertices;
|
|
|
|
//int numVerts = sizeof(barrel_vertices)/(9*sizeof(float));
|
|
int numSteps = 32;
|
|
for (int i = 0; i<numSteps; i++)
|
|
{
|
|
|
|
btScalar cylRadius = visual->m_geometry.m_capsuleRadius;
|
|
btScalar cylLength = visual->m_geometry.m_capsuleHeight;
|
|
|
|
btVector3 vert(cylRadius*btSin(SIMD_2_PI*(float(i) / numSteps)), cylRadius*btCos(SIMD_2_PI*(float(i) / numSteps)), cylLength / 2.);
|
|
vertices.push_back(vert);
|
|
vert[2] = -cylLength / 2.;
|
|
vertices.push_back(vert);
|
|
}
|
|
|
|
btConvexHullShape* cylZShape = new btConvexHullShape(&vertices[0].x(), vertices.size(), sizeof(btVector3));
|
|
cylZShape->setMargin(gUrdfDefaultCollisionMargin);
|
|
cylZShape->recalcLocalAabb();
|
|
convexColShape = cylZShape;
|
|
break;
|
|
}
|
|
|
|
case URDF_GEOM_BOX:
|
|
{
|
|
btVector3 extents = visual->m_geometry.m_boxSize;
|
|
btBoxShape* boxShape = new btBoxShape(extents*0.5f);
|
|
//btConvexShape* boxShape = new btConeShapeX(extents[2]*0.5,extents[0]*0.5);
|
|
convexColShape = boxShape;
|
|
convexColShape->setMargin(gUrdfDefaultCollisionMargin);
|
|
break;
|
|
}
|
|
|
|
case URDF_GEOM_SPHERE:
|
|
{
|
|
btScalar radius = visual->m_geometry.m_sphereRadius;
|
|
btSphereShape* sphereShape = new btSphereShape(radius);
|
|
convexColShape = sphereShape;
|
|
convexColShape->setMargin(gUrdfDefaultCollisionMargin);
|
|
break;
|
|
}
|
|
|
|
case URDF_GEOM_MESH:
|
|
{
|
|
switch (visual->m_geometry.m_meshFileType)
|
|
{
|
|
case UrdfGeometry::FILE_OBJ:
|
|
{
|
|
b3ImportMeshData meshData;
|
|
if (b3ImportMeshUtility::loadAndRegisterMeshFromFileInternal(visual->m_geometry.m_meshFileName, meshData))
|
|
{
|
|
|
|
if (meshData.m_textureImage1)
|
|
{
|
|
BulletURDFTexture texData;
|
|
texData.m_width = meshData.m_textureWidth;
|
|
texData.m_height = meshData.m_textureHeight;
|
|
texData.textureData1 = meshData.m_textureImage1;
|
|
texData.m_isCached = meshData.m_isCached;
|
|
texturesOut.push_back(texData);
|
|
}
|
|
glmesh = meshData.m_gfxShape;
|
|
}
|
|
break;
|
|
}
|
|
|
|
case UrdfGeometry::FILE_STL:
|
|
{
|
|
glmesh = LoadMeshFromSTL(visual->m_geometry.m_meshFileName.c_str());
|
|
break;
|
|
}
|
|
|
|
case UrdfGeometry::FILE_COLLADA:
|
|
{
|
|
btAlignedObjectArray<GLInstanceGraphicsShape> visualShapes;
|
|
btAlignedObjectArray<ColladaGraphicsInstance> visualShapeInstances;
|
|
btTransform upAxisTrans; upAxisTrans.setIdentity();
|
|
float unitMeterScaling = 1;
|
|
int upAxis = 2;
|
|
|
|
LoadMeshFromCollada(visual->m_geometry.m_meshFileName.c_str(),
|
|
visualShapes,
|
|
visualShapeInstances,
|
|
upAxisTrans,
|
|
unitMeterScaling,
|
|
upAxis);
|
|
|
|
glmesh = new GLInstanceGraphicsShape;
|
|
// int index = 0;
|
|
glmesh->m_indices = new b3AlignedObjectArray<int>();
|
|
glmesh->m_vertices = new b3AlignedObjectArray<GLInstanceVertex>();
|
|
|
|
for (int i = 0; i<visualShapeInstances.size(); i++)
|
|
{
|
|
ColladaGraphicsInstance* instance = &visualShapeInstances[i];
|
|
GLInstanceGraphicsShape* gfxShape = &visualShapes[instance->m_shapeIndex];
|
|
|
|
b3AlignedObjectArray<GLInstanceVertex> verts;
|
|
verts.resize(gfxShape->m_vertices->size());
|
|
|
|
int baseIndex = glmesh->m_vertices->size();
|
|
|
|
for (int i = 0; i<gfxShape->m_vertices->size(); i++)
|
|
{
|
|
verts[i].normal[0] = gfxShape->m_vertices->at(i).normal[0];
|
|
verts[i].normal[1] = gfxShape->m_vertices->at(i).normal[1];
|
|
verts[i].normal[2] = gfxShape->m_vertices->at(i).normal[2];
|
|
verts[i].uv[0] = gfxShape->m_vertices->at(i).uv[0];
|
|
verts[i].uv[1] = gfxShape->m_vertices->at(i).uv[1];
|
|
verts[i].xyzw[0] = gfxShape->m_vertices->at(i).xyzw[0];
|
|
verts[i].xyzw[1] = gfxShape->m_vertices->at(i).xyzw[1];
|
|
verts[i].xyzw[2] = gfxShape->m_vertices->at(i).xyzw[2];
|
|
verts[i].xyzw[3] = gfxShape->m_vertices->at(i).xyzw[3];
|
|
|
|
}
|
|
|
|
int curNumIndices = glmesh->m_indices->size();
|
|
int additionalIndices = gfxShape->m_indices->size();
|
|
glmesh->m_indices->resize(curNumIndices + additionalIndices);
|
|
for (int k = 0; k<additionalIndices; k++)
|
|
{
|
|
glmesh->m_indices->at(curNumIndices + k) = gfxShape->m_indices->at(k) + baseIndex;
|
|
}
|
|
|
|
//compensate upAxisTrans and unitMeterScaling here
|
|
btMatrix4x4 upAxisMat;
|
|
upAxisMat.setIdentity();
|
|
// upAxisMat.setPureRotation(upAxisTrans.getRotation());
|
|
btMatrix4x4 unitMeterScalingMat;
|
|
unitMeterScalingMat.setPureScaling(btVector3(unitMeterScaling, unitMeterScaling, unitMeterScaling));
|
|
btMatrix4x4 worldMat = unitMeterScalingMat*upAxisMat*instance->m_worldTransform;
|
|
//btMatrix4x4 worldMat = instance->m_worldTransform;
|
|
int curNumVertices = glmesh->m_vertices->size();
|
|
int additionalVertices = verts.size();
|
|
glmesh->m_vertices->reserve(curNumVertices + additionalVertices);
|
|
|
|
for (int v = 0; v<verts.size(); v++)
|
|
{
|
|
btVector3 pos(verts[v].xyzw[0], verts[v].xyzw[1], verts[v].xyzw[2]);
|
|
pos = worldMat*pos;
|
|
verts[v].xyzw[0] = float(pos[0]);
|
|
verts[v].xyzw[1] = float(pos[1]);
|
|
verts[v].xyzw[2] = float(pos[2]);
|
|
glmesh->m_vertices->push_back(verts[v]);
|
|
}
|
|
}
|
|
glmesh->m_numIndices = glmesh->m_indices->size();
|
|
glmesh->m_numvertices = glmesh->m_vertices->size();
|
|
//glmesh = LoadMeshFromCollada(visual->m_geometry.m_meshFileName);
|
|
|
|
break;
|
|
}
|
|
} // switch file type
|
|
|
|
if (!glmesh || !glmesh->m_vertices || glmesh->m_numvertices<=0)
|
|
{
|
|
b3Warning("%s: cannot extract anything useful from mesh '%s'\n", urdfPathPrefix, visual->m_geometry.m_meshFileName.c_str());
|
|
break;
|
|
}
|
|
|
|
//apply the geometry scaling
|
|
for (int i=0;i<glmesh->m_vertices->size();i++)
|
|
{
|
|
glmesh->m_vertices->at(i).xyzw[0] *= visual->m_geometry.m_meshScale[0];
|
|
glmesh->m_vertices->at(i).xyzw[1] *= visual->m_geometry.m_meshScale[1];
|
|
glmesh->m_vertices->at(i).xyzw[2] *= visual->m_geometry.m_meshScale[2];
|
|
}
|
|
break;
|
|
}
|
|
case URDF_GEOM_PLANE:
|
|
{
|
|
b3Warning("No default visual for URDF_GEOM_PLANE");
|
|
break;
|
|
}
|
|
default:
|
|
{
|
|
b3Warning("Error: unknown visual geometry type %i\n", visual->m_geometry.m_type);
|
|
}
|
|
}
|
|
|
|
//if we have a convex, tesselate into localVertices/localIndices
|
|
if ((glmesh==0) && convexColShape)
|
|
{
|
|
BT_PROFILE("convexColShape");
|
|
|
|
btShapeHull* hull = new btShapeHull(convexColShape);
|
|
hull->buildHull(0.0);
|
|
{
|
|
// int strideInBytes = 9*sizeof(float);
|
|
int numVertices = hull->numVertices();
|
|
int numIndices = hull->numIndices();
|
|
|
|
|
|
glmesh = new GLInstanceGraphicsShape;
|
|
// int index = 0;
|
|
glmesh->m_indices = new b3AlignedObjectArray<int>();
|
|
glmesh->m_vertices = new b3AlignedObjectArray<GLInstanceVertex>();
|
|
|
|
|
|
for (int i = 0; i < numVertices; i++)
|
|
{
|
|
GLInstanceVertex vtx;
|
|
btVector3 pos = hull->getVertexPointer()[i];
|
|
vtx.xyzw[0] = pos.x();
|
|
vtx.xyzw[1] = pos.y();
|
|
vtx.xyzw[2] = pos.z();
|
|
vtx.xyzw[3] = 1.f;
|
|
pos.normalize();
|
|
vtx.normal[0] = pos.x();
|
|
vtx.normal[1] = pos.y();
|
|
vtx.normal[2] = pos.z();
|
|
vtx.uv[0] = 0.5f;
|
|
vtx.uv[1] = 0.5f;
|
|
glmesh->m_vertices->push_back(vtx);
|
|
}
|
|
|
|
btAlignedObjectArray<int> indices;
|
|
for (int i = 0; i < numIndices; i++)
|
|
{
|
|
glmesh->m_indices->push_back(hull->getIndexPointer()[i]);
|
|
}
|
|
|
|
glmesh->m_numvertices = glmesh->m_vertices->size();
|
|
glmesh->m_numIndices = glmesh->m_indices->size();
|
|
}
|
|
delete hull;
|
|
delete convexColShape;
|
|
convexColShape = 0;
|
|
|
|
}
|
|
|
|
if (glmesh && glmesh->m_numIndices>0 && glmesh->m_numvertices >0)
|
|
{
|
|
BT_PROFILE("glmesh");
|
|
int baseIndex = verticesOut.size();
|
|
|
|
|
|
|
|
for (int i = 0; i < glmesh->m_indices->size(); i++)
|
|
{
|
|
indicesOut.push_back(glmesh->m_indices->at(i) + baseIndex);
|
|
}
|
|
|
|
for (int i = 0; i < glmesh->m_vertices->size(); i++)
|
|
{
|
|
GLInstanceVertex& v = glmesh->m_vertices->at(i);
|
|
btVector3 vert(v.xyzw[0],v.xyzw[1],v.xyzw[2]);
|
|
btVector3 vt = visualTransform*vert;
|
|
v.xyzw[0] = vt[0];
|
|
v.xyzw[1] = vt[1];
|
|
v.xyzw[2] = vt[2];
|
|
btVector3 triNormal(v.normal[0],v.normal[1],v.normal[2]);
|
|
triNormal = visualTransform.getBasis()*triNormal;
|
|
v.normal[0] = triNormal[0];
|
|
v.normal[1] = triNormal[1];
|
|
v.normal[2] = triNormal[2];
|
|
verticesOut.push_back(v);
|
|
}
|
|
}
|
|
delete glmesh;
|
|
|
|
}
|
|
|
|
|
|
int BulletURDFImporter::convertLinkVisualShapes(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame) const
|
|
{
|
|
int graphicsIndex = -1;
|
|
btAlignedObjectArray<GLInstanceVertex> vertices;
|
|
btAlignedObjectArray<int> indices;
|
|
btTransform startTrans; startTrans.setIdentity();
|
|
btAlignedObjectArray<BulletURDFTexture> textures;
|
|
|
|
const UrdfModel& model = m_data->m_urdfParser.getModel();
|
|
UrdfLink* const* linkPtr = model.m_links.getAtIndex(linkIndex);
|
|
if (linkPtr)
|
|
{
|
|
|
|
const UrdfLink* link = *linkPtr;
|
|
|
|
for (int v = 0; v < link->m_visualArray.size();v++)
|
|
{
|
|
const UrdfVisual& vis = link->m_visualArray[v];
|
|
btTransform childTrans = vis.m_linkLocalFrame;
|
|
btHashString matName(vis.m_materialName.c_str());
|
|
UrdfMaterial *const * matPtr = model.m_materials[matName];
|
|
if (matPtr)
|
|
{
|
|
UrdfMaterial *const mat = *matPtr;
|
|
//printf("UrdfMaterial %s, rgba = %f,%f,%f,%f\n",mat->m_name.c_str(),mat->m_rgbaColor[0],mat->m_rgbaColor[1],mat->m_rgbaColor[2],mat->m_rgbaColor[3]);
|
|
UrdfMaterialColor matCol;
|
|
matCol.m_rgbaColor = mat->m_matColor.m_rgbaColor;
|
|
matCol.m_specularColor = mat->m_matColor.m_specularColor;
|
|
m_data->m_linkColors.insert(linkIndex,matCol);
|
|
}
|
|
convertURDFToVisualShapeInternal(&vis, pathPrefix, localInertiaFrame.inverse()*childTrans, vertices, indices,textures);
|
|
|
|
|
|
}
|
|
}
|
|
if (vertices.size() && indices.size())
|
|
{
|
|
// graphicsIndex = m_data->m_guiHelper->registerGraphicsShape(&vertices[0].xyzw[0], vertices.size(), &indices[0], indices.size());
|
|
//graphicsIndex = m_data->m_guiHelper->registerGraphicsShape(&vertices[0].xyzw[0], vertices.size(), &indices[0], indices.size());
|
|
|
|
//CommonRenderInterface* renderer = m_data->m_guiHelper->getRenderInterface();
|
|
|
|
if (1)
|
|
{
|
|
int textureIndex = -1;
|
|
if (textures.size())
|
|
{
|
|
|
|
textureIndex = m_data->m_guiHelper->registerTexture(textures[0].textureData1,textures[0].m_width,textures[0].m_height);
|
|
}
|
|
{
|
|
B3_PROFILE("registerGraphicsShape");
|
|
graphicsIndex = m_data->m_guiHelper->registerGraphicsShape(&vertices[0].xyzw[0], vertices.size(), &indices[0], indices.size(), B3_GL_TRIANGLES, textureIndex);
|
|
}
|
|
|
|
}
|
|
}
|
|
|
|
//delete textures
|
|
for (int i=0;i<textures.size();i++)
|
|
{
|
|
B3_PROFILE("free textureData");
|
|
if (!textures[i].m_isCached)
|
|
{
|
|
free( textures[i].textureData1);
|
|
}
|
|
}
|
|
return graphicsIndex;
|
|
}
|
|
|
|
|
|
bool BulletURDFImporter::getLinkColor(int linkIndex, btVector4& colorRGBA) const
|
|
{
|
|
const UrdfMaterialColor* matColPtr = m_data->m_linkColors[linkIndex];
|
|
if (matColPtr)
|
|
{
|
|
colorRGBA = matColPtr->m_rgbaColor;
|
|
return true;
|
|
}
|
|
return false;
|
|
}
|
|
|
|
bool BulletURDFImporter::getLinkColor2(int linkIndex, UrdfMaterialColor& matCol) const
|
|
{
|
|
UrdfMaterialColor* matColPtr = m_data->m_linkColors[linkIndex];
|
|
if (matColPtr)
|
|
{
|
|
matCol = *matColPtr;
|
|
return true;
|
|
}
|
|
return false;
|
|
}
|
|
|
|
bool BulletURDFImporter::getLinkContactInfo(int urdflinkIndex, URDFLinkContactInfo& contactInfo ) const
|
|
{
|
|
UrdfLink* const* linkPtr = m_data->m_urdfParser.getModel().m_links.getAtIndex(urdflinkIndex);
|
|
if (linkPtr)
|
|
{
|
|
const UrdfLink* link = *linkPtr;
|
|
contactInfo = link->m_contactInfo;
|
|
return true;
|
|
}
|
|
return false;
|
|
}
|
|
|
|
bool BulletURDFImporter::getLinkAudioSource(int linkIndex, SDFAudioSource& audioSource) const
|
|
{
|
|
UrdfLink* const* linkPtr = m_data->m_urdfParser.getModel().m_links.getAtIndex(linkIndex);
|
|
if (linkPtr)
|
|
{
|
|
const UrdfLink* link = *linkPtr;
|
|
if (link->m_audioSource.m_flags & SDFAudioSource::SDFAudioSourceValid)
|
|
{
|
|
audioSource = link->m_audioSource;
|
|
return true;
|
|
}
|
|
}
|
|
return false;
|
|
}
|
|
|
|
void BulletURDFImporter::setEnableTinyRenderer(bool enable)
|
|
{
|
|
m_data->m_enableTinyRenderer = enable;
|
|
}
|
|
|
|
|
|
void BulletURDFImporter::convertLinkVisualShapes2(int linkIndex, int urdfIndex, const char* pathPrefix, const btTransform& localInertiaFrame, class btCollisionObject* colObj, int bodyUniqueId) const
|
|
{
|
|
if (m_data->m_enableTinyRenderer && m_data->m_customVisualShapesConverter)
|
|
{
|
|
const UrdfModel& model = m_data->m_urdfParser.getModel();
|
|
UrdfLink*const* linkPtr = model.m_links.getAtIndex(urdfIndex);
|
|
if (linkPtr)
|
|
{
|
|
m_data->m_customVisualShapesConverter->convertVisualShapes(linkIndex,pathPrefix,localInertiaFrame, *linkPtr, &model, colObj, bodyUniqueId);
|
|
}
|
|
}
|
|
}
|
|
|
|
int BulletURDFImporter::getNumAllocatedCollisionShapes() const
|
|
{
|
|
return m_data->m_allocatedCollisionShapes.size();
|
|
}
|
|
|
|
|
|
btCollisionShape* BulletURDFImporter::getAllocatedCollisionShape(int index)
|
|
{
|
|
return m_data->m_allocatedCollisionShapes[index];
|
|
}
|
|
|
|
int BulletURDFImporter::getNumAllocatedMeshInterfaces() const
|
|
{
|
|
return m_data->m_allocatedMeshInterfaces.size();
|
|
}
|
|
|
|
|
|
btStridingMeshInterface* BulletURDFImporter::getAllocatedMeshInterface(int index)
|
|
{
|
|
return m_data->m_allocatedMeshInterfaces[index];
|
|
}
|
|
|
|
|
|
|
|
class btCompoundShape* BulletURDFImporter::convertLinkCollisionShapes(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame) const
|
|
{
|
|
|
|
btCompoundShape* compoundShape = new btCompoundShape();
|
|
m_data->m_allocatedCollisionShapes.push_back(compoundShape);
|
|
|
|
compoundShape->setMargin(gUrdfDefaultCollisionMargin);
|
|
UrdfLink* const* linkPtr = m_data->m_urdfParser.getModel().m_links.getAtIndex(linkIndex);
|
|
btAssert(linkPtr);
|
|
if (linkPtr)
|
|
{
|
|
|
|
UrdfLink* link = *linkPtr;
|
|
|
|
|
|
for (int v=0;v<link->m_collisionArray.size();v++)
|
|
{
|
|
const UrdfCollision& col = link->m_collisionArray[v];
|
|
btCollisionShape* childShape = convertURDFToCollisionShape(&col ,pathPrefix);
|
|
m_data->m_allocatedCollisionShapes.push_back(childShape);
|
|
if (childShape->getShapeType()==COMPOUND_SHAPE_PROXYTYPE)
|
|
{
|
|
btCompoundShape* compound = (btCompoundShape*) childShape;
|
|
for (int i=0;i<compound->getNumChildShapes();i++)
|
|
{
|
|
m_data->m_allocatedCollisionShapes.push_back(compound->getChildShape(i));
|
|
}
|
|
}
|
|
|
|
if (childShape)
|
|
{
|
|
btTransform childTrans = col.m_linkLocalFrame;
|
|
|
|
compoundShape->addChildShape(localInertiaFrame.inverse()*childTrans,childShape);
|
|
}
|
|
}
|
|
}
|
|
|
|
return compoundShape;
|
|
}
|